diff -up ./cmake/internal/FindOS.cmake.fixcmake64 ./cmake/internal/FindOS.cmake
--- ./cmake/internal/FindOS.cmake.fixcmake64	2009-10-28 16:48:05.000000000 -0400
+++ ./cmake/internal/FindOS.cmake	2010-01-09 22:32:14.000000000 -0500
@@ -43,3 +43,26 @@ ELSEIF (PROJECT_OS_SOLARIS)
 ELSE (PROJECT_OS_LINUX)
     MESSAGE (STATUS "Operating system is generic Unix")
 ENDIF (PROJECT_OS_LINUX)
+
+# 32 or 64 bit Linux
+IF (PROJECT_OS_LINUX)
+    # Set the library directory suffix accordingly
+    IF (${CMAKE_SYSTEM_PROCESSOR} STREQUAL "x86_64")
+        SET (PROJECT_PROC_64BIT TRUE BOOL INTERNAL)
+        MESSAGE (STATUS "Linux x86_64 Detected")
+    ELSEIF (${CMAKE_SYSTEM_PROCESSOR} STREQUAL "ppc64")
+        MESSAGE (STATUS "Linux ppc64 Detected")
+        SET (PROJECT_PROC_64BIT TRUE BOOL INTERNAL)
+    ENDIF (${CMAKE_SYSTEM_PROCESSOR} STREQUAL "x86_64")
+ENDIF (PROJECT_OS_LINUX)
+
+IF(PROJECT_PROC_64BIT)
+    # Set the install path to lib64
+    SET(PROJECT_LIB_DIR "lib64")
+    SET(PROJECT_PLUGIN_DIR "${CMAKE_INSTALL_PREFIX}/lib64/stage/")
+ELSE (PROJECT_PROC_64BIT)
+    SET(PROJECT_LIB_DIR "lib")
+    SET(PROJECT_PLUGIN_DIR "${CMAKE_INSTALL_PREFIX}/lib/stage/")
+ENDIF (PROJECT_PROC_64BIT)
+
+MESSAGE(STATUS "Installing Libraries to ${PROJECT_LIB_DIR}")
diff -up ./CMakeLists.txt.fixcmake64 ./CMakeLists.txt
--- ./CMakeLists.txt.fixcmake64	2010-01-17 19:27:56.000000000 -0500
+++ ./CMakeLists.txt	2010-03-14 13:23:11.000000000 -0400
@@ -40,9 +40,9 @@ ENDIF (NOT PROJECT_OS_WIN AND NOT PROJEC
 
 #####################################
 # Build type cflags
-SET (CMAKE_CXX_FLAGS_RELEASE " -O3 -DNDEBUG ${WALL} " CACHE INTERNAL "C Flags for release" FORCE)
+SET (CMAKE_CXX_FLAGS_RELEASE "  -DNDEBUG ${WALL} " CACHE INTERNAL "C Flags for release" FORCE)
 SET (CMAKE_CXX_FLAGS_DEBUG " -ggdb  ${WALL} " CACHE INTERNAL "C Flags for debug" FORCE)
-SET (CMAKE_CXX_FLAGS_PROFILE " -O3 -ggdb -pg ${WALL} " CACHE INTERNAL "C Flags for profile" FORCE)
+SET (CMAKE_CXX_FLAGS_PROFILE "  -ggdb -pg ${WALL} " CACHE INTERNAL "C Flags for profile" FORCE)
 
 #####################################
 # Set the default build type
@@ -140,6 +140,11 @@ STRING(REGEX REPLACE "\n" ";" FLTK_LIBS 
 #MESSAGE( STATUS "    FLTK_LDFLAGS = ${FLTK_LDFLAGS}")
 #MESSAGE( STATUS "    FLTK_LIBS = ${FLTK_LIBS}")
 
+STRING(REGEX REPLACE " -lGLU" "" TMP "${FLTK_LDFLAGS}")
+STRING(REGEX REPLACE " -lGL" "" TMP2 "${TMP}")
+STRING(REGEX REPLACE " -lpng" "" FLTK_LDFLAGS_PKGCONFIG "${TMP2}")
+
+
 SET (FLTK_FOUND TRUE)
 
 # ENDIF( BUILD_GUI )
@@ -186,7 +191,7 @@ ENDIF( WEBSIM_FOUND )
 
 # Create the pkgconfig file
 CONFIGURE_FILE (${CMAKE_CURRENT_SOURCE_DIR}/stage.pc.in ${CMAKE_CURRENT_BINARY_DIR}/stage.pc @ONLY)
-INSTALL (FILES ${CMAKE_CURRENT_BINARY_DIR}/stage.pc DESTINATION lib/pkgconfig/)
+INSTALL (FILES ${CMAKE_CURRENT_BINARY_DIR}/stage.pc DESTINATION ${PROJECT_LIB_DIR}/pkgconfig/)
 
 MESSAGE( STATUS "Installation path CMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}" )
 
diff -up ./examples/ctrl/CMakeLists.standalone.txt.fixcmake64 ./examples/ctrl/CMakeLists.standalone.txt
--- ./examples/ctrl/CMakeLists.standalone.txt.fixcmake64	2009-10-28 16:48:05.000000000 -0400
+++ ./examples/ctrl/CMakeLists.standalone.txt	2010-01-09 21:30:01.000000000 -0500
@@ -22,5 +22,5 @@ endforeach( PLUGIN )
 SET_TARGET_PROPERTIES( ${PLUGINS} PROPERTIES PREFIX "" )
 
 # install in <prefix>/lib
-install( TARGETS ${PLUGINS} DESTINATION lib)
+install( TARGETS ${PLUGINS} DESTINATION ${PROJECT_LIB_DIR}/stage)
 
diff -up ./examples/ctrl/CMakeLists.txt.fixcmake64 ./examples/ctrl/CMakeLists.txt
--- ./examples/ctrl/CMakeLists.txt.fixcmake64	2009-10-28 16:48:05.000000000 -0400
+++ ./examples/ctrl/CMakeLists.txt	2010-01-09 21:59:30.000000000 -0500
@@ -37,5 +37,5 @@ SET_TARGET_PROPERTIES( ${PLUGINS} PROPER
 
 
 # install in <prefix>/lib
-install( TARGETS ${PLUGINS} DESTINATION lib)
+install( TARGETS ${PLUGINS} DESTINATION "${PROJECT_LIB_DIR}/stage")
 
diff -up ./libstage/CMakeLists.txt.fixcmake64 ./libstage/CMakeLists.txt
--- ./libstage/CMakeLists.txt.fixcmake64	2010-01-17 19:15:26.000000000 -0500
+++ ./libstage/CMakeLists.txt	2010-03-10 18:05:22.000000000 -0500
@@ -73,7 +73,7 @@ target_link_libraries( stagebinary stage
 
 INSTALL(TARGETS stagebinary stage
 	RUNTIME DESTINATION bin
-	LIBRARY DESTINATION lib
+	LIBRARY DESTINATION ${PROJECT_LIB_DIR}
 )
 
 INSTALL(FILES stage.hh 
diff -up ./stage.pc.in.fixcmake64 ./stage.pc.in
--- ./stage.pc.in.fixcmake64	2009-10-28 16:48:05.000000000 -0400
+++ ./stage.pc.in	2010-03-14 13:11:28.000000000 -0400
@@ -3,6 +3,6 @@ prefix=@CMAKE_INSTALL_PREFIX@
 Name: stage
 Description: Stage robot simulation program, C++ library and Player plugin - part of the Player/Stage Project
 Version: @VERSION@
-Requires: 
-Libs: -L${prefix}/lib -lstage @FLTK_LDFLAGS@
+Requires: glu libpng
+Libs: -L${prefix}/@PROJECT_LIB_DIR@ -lstage @FLTK_LDFLAGS_PKGCONFIG@
 Cflags: -I${prefix}/include/Stage-@APIVERSION@ @FLTK_CFLAGS@ 
diff -up ./worlds/benchmark/CMakeLists.txt.fixcmake64 ./worlds/benchmark/CMakeLists.txt
--- ./worlds/benchmark/CMakeLists.txt.fixcmake64	2010-01-17 19:41:56.000000000 -0500
+++ ./worlds/benchmark/CMakeLists.txt	2010-01-17 20:29:25.000000000 -0500
@@ -10,4 +10,4 @@ TARGET_LINK_LIBRARIES( expand_pioneer st
 set_source_files_properties( ${expand_pioneerSrcs} PROPERTIES COMPILE_FLAGS "${FLTK_CFLAGS}" )
 SET_TARGET_PROPERTIES( expand_pioneer PROPERTIES PREFIX "" )
 
-INSTALL( TARGETS expand_swarm expand_pioneer DESTINATION lib)
+INSTALL( TARGETS expand_swarm expand_pioneer DESTINATION ${PROJECT_LIB_DIR}/stage)